version: 66.04
glider: 5
mission: 7
dive: 38
start: 9 3 109 10 0 7
data:
$ID,5
$MISSION,7
$DIVE,38
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100955.86
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2831
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.674383
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,0
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043731672
$SEABIRD_T_H,0.00064376107
$SEABIRD_T_I,2.5908092e-05
$SEABIRD_T_J,2.8225327e-06
$SEABIRD_C_G,-9.8535681
$SEABIRD_C_H,1.1081258
$SEABIRD_C_I,-0.00043031506
$SEABIRD_C_J,0.00012618699
$GPS1,095454,6127.521,-853.259,25,1.6,43,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.6
$GPS2,095914,6127.523,-853.347,10,1.9,10,-9.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,0.207
$KALMAN_X,-32352.2,-1122.5,-893.6,22516.2,15483.9
$KALMAN_Y,40397.3,2358.9,429.3,-60045.3,-11714.0
$MHEAD_RNG_PITCHd_Wd,331.0,37521,-18.1,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.44,-146.6,0.0,0.0,0,58,0.00,0.00,-41.03,0.000,2,0.000,0.000,423,2145,2472
$GC,62,-1.44,-146.6,2.1,-3.3,2,118,10.93,2.53,-38.72,0.000,4,0.160,0.079,2422,3517,3430
$GC,374,-1.34,-146.6,46.0,-15.9,16,379,0.15,2.45,0.00,0.000,6,0.099,0.048,2453,2129,3430
$GC,702,-1.34,-146.6,91.5,-13.6,32,707,0.00,2.55,0.00,0.000,4,0.000,0.065,2453,3523,3430
$GC,871,-1.34,-146.6,114.8,-13.6,39,877,0.00,2.45,0.00,0.000,6,0.000,0.051,2453,2144,3430
$GC,1186,-1.34,-146.6,157.1,-13.2,55,1191,0.00,2.53,0.00,0.000,4,0.000,0.067,2453,3524,3430
$GC,1242,-1.34,-146.6,164.6,-12.6,57,1248,0.00,2.42,0.00,0.000,6,0.000,0.051,2453,2157,3431
$GC,1558,-1.34,-146.6,205.1,-12.8,73,1562,0.00,2.47,0.00,0.000,4,0.000,0.068,2453,3517,3431
$GC,1597,-1.34,-146.6,210.1,-12.5,75,1601,0.00,2.40,0.00,0.000,6,0.000,0.052,2453,2162,3431
$GC,1925,-1.34,-146.6,250.5,-12.3,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2149,3431
$GC,2234,-1.34,-146.6,289.1,-12.6,106,2238,0.00,2.50,0.00,0.000,4,0.000,0.069,2453,3522,3431
$GC,2284,-1.34,-146.6,295.7,-12.7,108,2288,0.00,2.38,0.00,0.000,6,0.000,0.054,2453,2176,3430
$GC,2606,-1.34,-146.6,336.3,-12.7,124,2610,0.00,2.47,0.00,0.000,4,0.000,0.072,2453,3518,3430
$GC,2633,-1.34,-146.6,340.0,-13.7,125,2637,0.00,2.40,0.00,0.000,6,0.000,0.055,2453,2173,3430
$GC,2949,-1.34,-146.6,378.9,-12.4,140,2953,0.00,2.47,0.00,0.000,4,0.000,0.072,2453,3516,3430
$GC,2998,-1.34,-146.6,385.5,-13.3,142,3003,0.00,2.40,0.00,0.000,6,0.000,0.056,2454,2171,3430
$GC,3314,-1.34,-146.6,424.5,-12.5,157,3319,0.00,2.58,0.00,0.000,4,0.000,0.068,2453,727,3430
$GC,3342,-1.34,-146.6,428.2,-13.1,158,3347,0.00,2.53,0.00,0.000,4,0.000,0.053,2453,2160,3430
$STATE,3347,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3347,begin apogee
$GC,3355,-0.33,0.0,428.8,13.1,158,3482,0.98,0.00,122.15,1.063,6,0.077,0.000,2668,1903,2831
$STATE,3482,end apogee,CONTROL_FINISHED_OK
$STATE,3482,begin climb
$GC,3485,1.44,146.6,434.5,0.0,165,3617,1.77,2.60,121.45,1.026,4,0.052,0.071,3060,536,2233
$GC,3692,1.26,153.4,423.3,9.7,175,3707,0.22,2.47,7.32,0.826,6,0.096,0.050,3017,1929,2205
$GC,4027,1.34,206.2,397.6,7.6,191,4076,0.00,2.65,44.42,0.994,4,0.000,0.071,3017,530,1990
$GC,4139,1.34,206.2,387.0,10.3,196,4144,0.00,2.45,0.00,0.000,6,0.000,0.051,3017,1905,1989
$GC,4462,1.41,210.8,356.3,9.8,212,4470,0.15,0.00,5.60,0.757,6,0.052,0.000,3057,1920,1971
$GC,4770,1.36,210.8,320.0,11.8,227,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1920,1970
$GC,5080,1.30,210.8,283.5,11.9,242,5085,0.15,2.53,0.00,0.000,4,0.090,0.070,3028,534,1970
$GC,5130,1.30,210.8,277.5,11.4,244,5134,0.00,2.42,0.00,0.000,6,0.000,0.051,3027,1907,1970
$GC,5446,1.30,210.8,245.6,10.3,259,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1918,1970
$GC,5755,1.30,210.8,213.8,10.1,274,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1919,1970
$GC,6064,1.30,210.8,180.7,10.8,289,6069,0.00,2.53,0.00,0.000,4,0.000,0.077,3027,529,1970
$GC,6105,1.30,210.8,176.2,11.6,291,6109,0.00,2.42,0.00,0.000,6,0.000,0.051,3028,1908,1970
$GC,6432,1.30,211.6,142.7,10.0,307,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1920,1970
$GC,6741,1.33,228.8,113.0,9.2,322,6763,0.00,2.58,15.43,0.817,4,0.000,0.067,3027,530,1897
$GC,6859,1.33,231.8,101.3,9.9,327,6868,0.00,2.42,4.07,0.585,6,0.000,0.051,3028,1905,1886
$GC,7187,1.38,232.1,69.8,10.0,343,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1910,1886
$GC,7496,1.44,232.1,38.9,10.1,358,7501,0.15,2.53,0.00,0.000,4,0.051,0.067,3069,530,1886
$GC,7591,1.36,232.1,26.8,12.0,362,7596,0.15,2.40,0.00,0.000,6,0.091,0.048,3039,1902,1886
$STATE,7842,end climb,SURFACE_DEPTH_REACHED
$STATE,7842,begin surface coast
$FINISH,0.8,1.026743
$STATE,7866,end surface coast,CONTROL_FINISHED_OK
$STATE,7866,begin surface
$SM_CCo,7889,35.50,0.773,0,0,1608,300.00
$SM_GC,1.62,0.00,0.00,35.50,0.000,0.000,0.773,421,2144,1608,-10.69,0.34,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.029146
$HUMID,1835
$TCM_TEMP,17.70
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,371.4,66.9
$24V_AH,23.9,8.338
$10V_AH,10.1,4.073
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.925,70.300,320.450,35.500,0.000,37.760,26.785,100.467,6.750,0.000,0.000,13.213,741.261,5747.595,438.261,939.007,332.845,33.342,936.438,0.000,922.854,0.000,21.994,0.000
$DEVICE_MAMPS,160.303,79.001,1063.062,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.650,279.361,299.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19101,375
$CAP_FILE_SIZE,66127,0
$CFSIZE,254472192,249901056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,030909,121331,6128.330,-855.443,39,1.8,39,-9.2